#ifndef __MOVE_POSE_H__
#define __MOVE_POSE_H__

#include <ros/ros.h>
#include <nav_msgs/Path.h>
#include "../local_planner_base.h"


class MovePosePlanner : public LocalPlannerBase{
    public:
        MovePosePlanner(tf2_ros::Buffer* tf_buffer);
        ~MovePosePlanner();

        /********************
         *  虚函数实现
         ********************/
        // 更新缓存数据
        void UpdateCache();
        // 计算速度指令
        bool ComputeTwist(Velocity2D& cmd_vel, LidarScan2D lidar_scan_2d, 
            Pose2D robot_pose, Pose2D goal_pose);

    private:
        float __kp_alpha;   //机器人与目标点之间夹角
        float __kp_beta;    //目标点角度
};


#endif